PID-FUZZY混合控制兩軸機械手臂

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题名:	PID-FUZZY混合控制兩軸機械手臂 PID-FUZZY Hybrid Control of Two-Axis Robot Manipulators
作者:	鄭詠賢
贡献者:	機械工程學系數位機電碩士班
关键词:	混合控制兩軸機械手臂 PID-FUZZY
日期:	2013
上传时间:	2014-01-22 09:40:10 (UTC+8)
摘要:	本論文是應用PID控制器和FUZZY控制器，設計一個PID-FUZZY混合控制器，作為機械手臂軌跡追蹤，使其能夠追蹤規劃路徑。工業上，機械手臂多屬於傳統PID控制，然而PID對於大範圍誤差控制時，無法保證穩定性，反之，FUZZY在大範圍控制穩定性比PID好，但缺點就是在小範圍時精確度比PID差，而混合控制器是一種結合了兩種控制器的設計，其目的為改善傳統控制器的缺點。本實驗以機械手臂位置及速度誤差作為模糊控制器的輸入變數，再以電腦介面卡送出給馬達作為控制器的輸出變數，在PID控制器方面，採用PD控制設計，在FUZZY控制器中編譯設計多種模糊規則，混合控制方面則是設計誤差達到大範圍20度以上時FUZZY控制，小範圍20度以下時PID微調控制。實驗證明，與PD控制器FUZZY控制器比較本論文的PID-FUZZY混合控制器具有以下特點(1)在大範圍誤差控制時能保持穩定性(2)在小範圍追跡精度能跟PID並駕齊驅。顯而易見，此設計具有相當之卓越性及潛在應用性。 This thesis is the application PID Controller and FUZZY controllers, design a PID-FUZZY hybrid controller, for robot manipulators trajectory tracking to be able to trace planned path. Industrial robot manipulators belong to the traditional system to PID control, however PID does not guarantee reliability in a large range of errors. On the other hand, FUZZY has better reliability than PID in a big range of errors. But the problem is worse accuracy than PID. Therefore, the hybrid controller has been designed and combined two controllers, which aims to improve the shortcomings of the traditional controller. In the experiment, robot manipulators position’s error and velocity error are the fuzzy controller input variables, and then sent to the motor adapter to the computer as the controller output variable. In the PID controller, we design PD controller. In FUZZY controller we compose many fuzzy rules. In hybrid controller we use FUZZY controller when the error is larger than 20 degrees and use controller when the error is smaller than 20 degrees. Experiments show that the hybrid controller has two major advantages(1) stability (2) accuracy better than FUZZY controller and PID controller . Obviously, this design has a considerable excellence and potential applicability.
显示于类别:	[機械工程系暨機械工程學系數位機電研究所] 博碩士論文

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